A Computationally Efficient EK-PMBM Filter for Bistatic mmWave Radio SLAM
Journal article, 2022

Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing approaches rely on sigma-point or particle-based approximations, leading to high computational complexity, precluding real-time execution. We propose a novel low-complexity SLAM filter, based on the Poisson multi-Bernoulli mixture (PMBM) filter. It utilizes the extended Kalman (EK) first-order Taylor series based Gaussian approximation of the filtering distribution, and applies the track-oriented marginal multi-Bernoulli/Poisson (TOMB/P) algorithm to approximate the resulting PMBM as a Poisson multi-Bernoulli (PMB). The filter can account for different landmark types in radio SLAM and multiple data association hypotheses. Hence, it has an adjustable complexity/performance trade-off. Simulation results show that the developed SLAM filter can greatly reduce the computational cost, while it keeps the good performance of mapping and user state estimation.

Complexity theory

mmWave sensing

simultaneous localization and mapping

Poisson multi-Bernoulli mixture filter

Bistatic sensing

Simultaneous localization and mapping

Kalman filters

Filtering algorithms

Sensors

Computational modeling

extended Kalman filter

Receivers

Author

Yu Ge

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Ossi Kaltiokallio

University of Tampere

Hyowon Kim

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Fan Jiang

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

Jukka Talvitie

University of Tampere

M. Valkama

University of Tampere

Lennart Svensson

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering

Sunwoo Kim

Hanyang University

Henk Wymeersch

Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks

IEEE Journal on Selected Areas in Communications

0733-8716 (ISSN) 15580008 (eISSN)

Vol. 40 7 2179-2192

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Subject Categories

Computer Engineering

Control Engineering

Signal Processing

DOI

10.1109/JSAC.2022.3155504

More information

Latest update

10/18/2024